DatabaseViewer 0 0 1285 804 Database viewer Qt::LeftToRight 0 0 0 0 Qt::ScrollBarAsNeeded true 0 0 181 184 Parents Children Label Stamp Weight Map ID Pose 12 Index : Id : indexA idA Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove 0 Qt::ScrollBarAsNeeded true 0 0 181 184 Parents Children Label Stamp Weight Map ID Pose 12 Index : Id : indexB idB Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove QDialogButtonBox::Close 0 0 1285 22 File Edit View Constraints view 2 Words Clouds true Scans true Qt::Horizontal 40 20 Neighbor links Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Loop closure links Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Type Transform σ (rot, trans) Optimized Refine (Visual) Refine (ICP) Reset Add Reject Qt::Horizontal 40 20 Graph view 1 # Qt::ClickFocus Qt::Horizontal QSlider::TicksAbove Poses Time optimization (s) Links (N, NM, G, LS, LT, U) Path length (m) Time grid (s) Graph root Span to all maps true false Qt::AllDockWidgetAreas Parameters 1 1 Debug Info Warning Error Logger level 0 0 0 312 374 ICP 1 1000 30 Iteration Point to plane 1 1000 20 1 16 8 Decimation m 2 100.000000000000000 2.000000000000000 m 3 1.000000000000000 0.010000000000000 Voxel size m 3 0.001000000000000 1.000000000000000 0.050000000000000 Max correspondence distance false Max depth 2 0.000000000000000 1.000000000000000 0.000000000000000 Min correspondence ratio false Normal K neighbors 2D icp Qt::Vertical 20 40 Use laser scans for ICP Downsample step size 1 999999 1000 1 0 0 366 420 Visual constraint 1 1000 100 Max correspondence distance 3 1000 10 2D transform (x,y,yaw) m 3 0.001000000000000 1.000000000000000 0.020000000000000 Motion estimation. 3D to 3D 3D to 2D (PnP) Iteration m 1 0.100000000000000 1.000000000000000 0.100000000000000 0.600000000000000 NNDR Min correspondences PnP flags. 1 Iterative EPNP P3P Variance from inliers count Re-extract features true Feature type 0 SURF SIFT ORB FAST+FREAK FAST+BRIEF GFTT+FREAK GFTT+BRIEF BRISK Nearest neighbor type 3 FLANN Naive FLANN Kd-Tree FLANN LSH Brute force Brute force GPU Qt::Vertical 20 40 Max feature depth m 2 100.000000000000000 4.000000000000000 0 0 338 330 Graph optimization false Ignore global loop closures false Iterations 1 1000 100 0 1000 0 Ignore pose correction false false false Qt::Vertical 0 40 QComboBox::AdjustToContents TORO g2o GTSAM Depth (0=inf) Ignore user loop closures Ignore local loop closures (space) false Ignore local loop closures (time) Strategy false 2d SLAM Ignore covariance Robust optimization false 0 0 261 411 Grid/cloud generation m 0.010000000000000 5.000000000000000 0.010000000000000 0.050000000000000 Grid cell size Errode Fill unknown space Grid from 3D projection true false 1 8 4 Cloud decimation m 1 0.400000000000000 15.000000000000000 1.000000000000000 4.000000000000000 Cloud max depth Cluster size Max ground angle rad 2 0.000000000000000 3.140000000000000 0.100000000000000 0.790000000000000 1 10000 20 Pose filtering true false degrees 0 180.000000000000000 30.000000000000000 m 0.010000000000000 0.100000000000000 Radius Angle Qt::Vertical 20 40 0 0 201 126 Detect more loop closures m 2 10.000000000000000 0.100000000000000 0.300000000000000 Radius degrees 0 180.000000000000000 1.000000000000000 30.000000000000000 Angle 1 100 1 Iterations Qt::Vertical 20 40 0 0 283 322 Stereo correspondences pixels 1 3 3 0.001000000000000 1.000000000000000 0.001000000000000 0.010000000000000 Optical Flow eps GFTT block size pixels 3 16 Optical Flow win size 1 3 GFTT min distance 4 1.000000000000000 0.010000000000000 0.010000000000000 Optical Flow max level Optical Flow iterations GFTT quality level 1 1000 30 2 1.000000000000000 0.010000000000000 0.100000000000000 pixels 1 5.000000000000000 Sub pixel Matches max slope Qt::Vertical 20 40 Stereo view 4 0 0 6 Inliers: Qt::RichText 0 Slope outliers: Qt::RichText 0 Negative disparity outliers: Qt::RichText 0 Flow outliers: Qt::RichText 0 Qt::Horizontal 40 20 3D view 4 Info 2 QTextEdit::NoWrap true Open database Quit Generate graph (*.dot) ... Generate graph (only weighted locations) ... Clean database Generate local graph (.dot) ... Clean local graph ... Update base ids Export 3D map (*.ply *.pcd) ... Export database... Extract images... View 3D map... Generate TORO graph (*.graph)... ICP: Refine all neighbor links... ICP: Refine all loop closure links... Detect more loop closures... Visual: Refine all neighbor links... Visual: Refine all loop closure links... Save config Reset all changes Generate g2o graph (*.g2o)... View 3D laser scans... Export 3D laser scans (*.ply *.pcd) ... rtabmap::CloudViewer QWidget

rtabmap/gui/CloudViewer.h

1 rtabmap::ImageView QWidget

rtabmap/gui/ImageView.h

rtabmap::GraphViewer QGraphicsView

rtabmap/gui/GraphViewer.h